WO2019070869A1 - Combining synthetic imagery with real imagery for vehicular operations - Google Patents
Combining synthetic imagery with real imagery for vehicular operations Download PDFInfo
- Publication number
- WO2019070869A1 WO2019070869A1 PCT/US2018/054187 US2018054187W WO2019070869A1 WO 2019070869 A1 WO2019070869 A1 WO 2019070869A1 US 2018054187 W US2018054187 W US 2018054187W WO 2019070869 A1 WO2019070869 A1 WO 2019070869A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image
- user
- view
- processor
- video image
- Prior art date
Links
- 238000000034 method Methods 0.000 claims abstract description 35
- 238000004590 computer program Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 16
- 238000003708 edge detection Methods 0.000 claims description 7
- 230000008901 benefit Effects 0.000 abstract description 4
- 239000003550 marker Substances 0.000 description 16
- 239000011521 glass Substances 0.000 description 15
- 230000000873 masking effect Effects 0.000 description 14
- 230000009466 transformation Effects 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/60—Editing figures and text; Combining figures or text
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
- H04N13/344—Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D43/00—Arrangements or adaptations of instruments
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/156—Mixing image signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/366—Image reproducers using viewer tracking
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D11/00—Passenger or crew accommodation; Flight-deck installations not otherwise provided for
- B64D2011/0061—Windows displaying outside view, artificially generated
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30268—Vehicle interior
Definitions
- Various display systems may benefit from the combination of synthetic imagery from a plurality of sources.
- display systems for vehicular operations may benefit from combining synthetic imagery with real imagery.
- synthetic image displays show an outside view on the instrument panel.
- a heads up display I-IUD
- display glasses can provide IIUD-like imagery to a user.
- a method can include obtaining, by a processor, an interior video image based on a position of a user.
- the method can also include obtaining, by the processor, an exterior video image based on the position of the user.
- the method can further include combining the interior video image and the exterior video image to form a combined single view for the user.
- the method can additionally include providing the combined single view to a display of the user.
- an apparatus can include at least one processor and at least one memory including computer program code.
- the at least one memory and the computer program code can be configured to, with the at least one processor, cause the apparatus at least to obtain an interior video image based on a position of a user.
- the at least one memory and the computer program code can also be configured to, with the at least one processor, cause the apparatus at least to obtain an exterior video image based on the position of the user.
- the at least one memory and the computer program code can further be configured to, with the at least one processor, cause the apparatus at least to combine the interior video image and the exterior video image to form a combined single view for the user.
- the at least one memory and the computer program code can additionally be configured to, with the at least one processor, cause the apparatus at least to provide the combined single view to a display of the user,
- An apparatus in certain embodiments, can include means for obtaining, by a processor, an interior video image based on a position of a user.
- the apparatus can also include means for obtaining, by the processor, an exterior video image based on the position of the user.
- the apparatus can further include means for combining the interior video image and the exterior video image to form a combined single view for the user.
- the apparatus can additionally include means for providing the combined single view to a display of the user.
- a system can include a first camera configured to provide a near focus view of surroundings of a user.
- the system can also include a second camera configured to provide a distance focus view of the surroundings of the user.
- the system can further include a processor configured to provide a combined view of the surroundings based on the near focus view and the distance focus view.
- the system can additionally include a display configured to display the combined view to the user.
- Figure 1 illustrates markers according to certain embodiments of the present invention.
- Figure 2 illustrates a mapping of mask areas according to certain embodiments of the present invention.
- Figure 3 illustrates display glasses according to certain embodiments of the present invention.
- Figure 4 illustrates a synthetic image mapped to a window, according to certain embodiments of the present invention.
- Figure 5 illustrates a camera image mapped to a window, according to certain embodiments of the present invention.
- Figure 6 illustrates a system according to certain embodiments of the present invention.
- Figure 7 illustrates a method according to certain embodiments of the present invention.
- Figure 8 illustrates a further system according to certain embodiments of the present invention.
- Certain embodiments of the present invention provide mechanisms, systems, and methods for vehicle operators who encounter limited visiblity due to obscuration to maintain reference to the outside environment and also vehicle instruments / interior.
- This obscuration may be from, for example, clouds, smoke, fog, night, snow, or the like.
- Certain embodiments may display a synthetic image in the windscreen area, not just on the instrument panel. This synthetic image may appear larger to the pilot than traditional synthetic images. Moreover, the pilot may be able to avoid or limit cross-checking between the instrument panels and the windscreen.
- the synthetic image can be in full color and can contain all major features. Moreover, the instrument panel and the interior can still be visible. Furthermore, coilimating optics can be avoided. All imager ⁇ ' can be presented at the same focal distance for the user.
- Certain embodiments may align the synthetic image to the cockpit environment. Edge and/or object detection can be used to automatically update image alignment.
- Certain embodiments can be applied to flying vehicles, such as airplanes. Nevertheless, other embodiments may be applied to other categories of vehicles, such as boats, amphibious vehicles, such as hovercraft, wheeled vehicles, such as cars and trucks, or treaded vehicles, such as snowmobiles.
- flying vehicles such as airplanes.
- other embodiments may be applied to other categories of vehicles, such as boats, amphibious vehicles, such as hovercraft, wheeled vehicles, such as cars and trucks, or treaded vehicles, such as snowmobiles.
- Certain embodiments of the present invention can provide devices and methods for combining a real time synthetic image of the outside environment with real time video imager ⁇ '.
- some of the components of a system can include a system processor, markers, and display glasses.
- FIG. 1 illustrates markers according to certain embodiments of the present invention.
- markers can be installed at fixed locations within a cockpit. These markers can be selected to be any recognizable form of marker, such as a marker having a particular predefined geometry, color, pattern, or reflectivity.
- a plurality' of markers can be placed at predetermined locations throughout the cockpit. The example of a cockpit is used, but other locations such as the bridge of a ship or yacht or the driver's seat area of a car can be similarly equipped.
- the markers can be located throughout a visual domain of the vehicle operator (for example, pilot). Thus, the position of markers can be distributed such that at least one marker will typically be visible within the field of vision of the operator during vehicle operation.
- Figure 2 illustrates a mapping of mask areas according to certain embodiments of the present invention. As shown in Figure 2, the mask areas can correspond to the windscreen and other windows within the cockpit area.
- the display glasses contains built in video camera(s), infra-red emitter and 3-axis angular rate gyros. Typical applications are for vehicles such as aircraft or cars.
- FIG 3 illustrates display glasses according to certain embodiments of the present invention.
- video camera(s) can be mounted on the display glasses facing forward and can provide focused imager ⁇ - for both near (interior) and distance (exterior) processing.
- the display glasses can also include an infrared (IR) emitter.
- IR infrared
- the IR emitter can be used to illuminate the markers, which may be designed to reflect IR light particularly well.
- the display glasses can also include rate gyros or other movement sensing devices, such as microelectromechanical sensors (MEMS) or the like.
- MEMS microelectromechanical sensors
- Figure 4 illustrates a synthetic image mapped to a window, according to certain embodiments of the present invention.
- the synthetic image can be mapped only to the mask areas, such as those shown in Figure 2.
- a single image is shown, optionally a stereoscopic image can be presented, such that each eye sees a slightly different image.
- Figure 5 illustrates a camera image mapped to a window, according to certain embodiments of the present invention. As shown in Figure 4, the camera image can be mapped only to the mask areas, such as those shown in
- Figure 2 Although a single image is shown, optionally a stereoscopic image can be presented, such that each eye sees a slightly different image.
- Figure 6 illustrates a system according to certain embodiments of the present invention.
- the system can include a near focus camera and a distance focus camera. Although only one of each camera is shown, a plurality of cameras can be provided, for example to provide a stereoscopic image or a telephoto option.
- the distance focus camera can provide exterior video to an exterior image masking section.
- the exterior image masking section can be implemented in a processor, such as a graphics processor.
- the exterior video can refer to video corresponding to the exterior of the vehicle, such as the environment of the airplane.
- the near focus camera can provide interior video to an interior image masking section.
- the interior image masking section can be implemented in a processor, such as a graphics processor. This may be the same processor as for the exterior video masking section, or it may be a different processor.
- the system may include a multicore processor, and the interior image masking section and exterior image masking section can be implemented in different threads on different cores of the multicore processor.
- the interior video can refer to video corresponding to the interi or of the vehicle, such as the cockpit of the airplane.
- the interior video can also be provided to a marker detection and location section.
- the exterior video can optionally also be provided to this same marker detection and location section. If the focus of the exterior video is set to be longer than the interior walls of the cockpit, the exterior video may not be as useful for marker detection and location, as the markers may be out of focus.
- the marker detection and location section can be implemented in the same or different processor(s) as those discussed above.
- each processing section of this system may be implemented in one or many processors, and in one or many threads on such processors.
- each referenced "section" herein can be similarly embodied alone or in combination with any of the other identified sections, even when such is not explicitly stated in the following discussion.
- Three-axis angular rate gyros or similar accelerometers can provide rate data to an integrated angular displacement section.
- the integrated angular displacement section can also receive time data, from a clock source.
- the clock source may be a local clock source, a radio clock source, or any other clock source, such as clock data from a global positioning system (GPS) source.
- GPS global positioning system
- GPS and air data can be provided as inputs to a vehicle geo-reference data section.
- the vehicle geo-reference data section can provide detailed information about the aircraft position and orientation, including such information as latitude, longitude, altitude, pitch, roll, and heading.
- the information can include the current values of these, as well as rate or acceleration information regarding each of these.
- the information from the vehicle geo-reference data section can be provided to an exterior synthetic image generator section.
- the exterior synthetic image generator section can also receive data from a synthetic image database.
- the synthetic image database may be local or remote.
- a local synthetic image database can store data regarding the immediate vicinity of the aircraft or other vehicle. For example, ail the synthetic image data for one hour or one fuel tank of range may be stored locally, while additional synthetic image data can be remotely stored and retrievable by the aircraft.
- a vehicle map database can provide interior mask data to a frame interior mask transformation section.
- the vehicle map database can also provide exterior mask data to a frame exterior mask transformation section.
- the vehicle map database can additionally provide marker locations to the marker detection and location section and to a user direction of view section.
- the vehicle map database and the synthetic image database can each or both be implemented using one or more memory.
- the memory may be any form of computer storage device, including optical storage such as CD-ROM or DVD storage, magnetic storage, such as tape drive or floppy disk storage, or solid state storage, such as flash random access memory (RAM) or solid state drives (SSDs). Any non-transitory computer-readable medium may be used to store the databases. The same or any other non-transitory computer-readable medium may be used to store computer instructions, such as computer computer commands, to implement the various computing sections described herein.
- the database storage can be separate from or integrated with the computer command storage. Memory safety techniques, such as redundant array of inexpensive disks (RAID) can be employed. Backup of the memory can be performed locally or in a cloud system.
- the memory of the system can be in communication with a flight recorder and can provide details of the operational state(s) of the system to the flight recorder.
- the marker detection and location section can provide information based on the near focus camera and maker locations to the user direction of view section.
- the user direction of view section can also receive integrated angular displacement data from the integrated angular displacement section.
- the user direction of view section can, in turn, provide information regarding the current direction a user is viewing to the frame interior mask transformation section, the frame exterior mask transformation section, and the exterior synthetic image generator.
- the frame interior mask transformation section can provide interior mask transformation data based on the interior mask data and the user direction of view data.
- the interior mask transformation data can be provided to an interior image masking section.
- the interior image masking section can also receive the interior video from the near focus camera.
- the interior image masking section can provide interior image masking data to an interior exterior image combiner section.
- the exterior synthetic image generator section can, based on data from the vehicle geo-reference data section, the synthetic image database, and the user direction of view section, provide an exterior synthetic image to the synthetic image masking section.
- the synthetic image masking section can, based on the exterior synthetic image and the frame exterior mask transformation, create masked synthetic image data and provide such data to an exterior image mixing section.
- the exterior image masking section can receive the frame exterior mask transformation data and the exterior video and can create a masked exterior image.
- the masked exterior image can be provided to the exterior image mixing section as well as to an edge / object detection section.
- the edge / object detection section can provide output to an automatic transparency section, which can, in turn, provide transparency information to the exterior image mixing section.
- An overlay symbology generator section can provide overlay symbology to the exterior image mixing section.
- the exterior image mixing section can provide an exterior image to the interior exterior image combiner section.
- the interior exterior image combiner section can combine the interior and exterior images and can provide them to display glasses,
- a system processor in certain embodiments can include vehicle geo-reference data, a synthetic imager ⁇ ' database, synthetic image generator and components for manipulating and displaying video/image data.
- Markers can be located within the user's normal fieid-of-view inside the vehicle's interior.
- the markers may be natural features, such as support columns, or intentionally placed fiducials. These can be features are provided in fixed positions relative to the visual obstacles of the interior.
- Figure 1 provides an illustration of same example markers.
- the processor can locate the markers in the video image and can use this information to determine the user's direction-of-view relative to the vehicle structure.
- the user's direction-of-view may change due to head movement, seat change, and the like.
- exterior mask(s) and interior mask(s) can be determined relative to the vehicle structure, by the use of fixed markers.
- the exterior mask(s) can be the windscreen and windows, however the exterior mask(s) can be arbitrarily defined, if desired.
- Figure 2 provides an example of an exterior mask.
- the interior mask(s) can be the inverse of the exterior mask(s).
- the interior mask(s) may typically be everything except the window areas.
- the interior mask(s) can also be arbitrarily defined.
- the interior mask(s) may include the instrument panel, the controls and the remainder of the vehicle interior.
- the exterior mask(s), interior mask(s) and marker locations can be stored in the vehicle map database.
- Enhanced imagery can be selectively displayed only in the exterior mask(s) and can be aligned to the users direction-of-view.
- the level of image enhancement may vary from real time video, as illustrated in Figure 5, to fully synthetic imagery as illustrated in Figure 4, or any combination thereof. Additional information, such as vehicle parameters, obstacles, and traffic, may also be included as an overlay in the enhanced imagery.
- the level of enhancement can be automatic or user selected,
- Real time video imagery may always be displayed in the interior mask(s) and may be aligned to the user's direction-of-view.
- the processor can maintain orientation and alignment of the mask(s) relative to the vehicle structure by locating the fixed marker(s) in the camera(s) image frame. As the user's head moves, the mask(s) can move in the opposite direction.
- the user's di ecti on-of- view, geo-reference data and synthetic image database can be used to generate the real time synthetic imager ⁇ '.
- the geo-reference data for the vehicle can include any of the following: latitude, longitude, attitude (pitch, roil), heading (yaw), and altitude.
- Such data can be provided by, for example, GPS, attitude gyros, and air data sensors.
- Long-term orientation of the user's direction-of-view can be based on locating the markers within the vehicle. This can be accomplished by numerous methods, such as reflection of IR emitter signal or object detection via image analysis. Short term stabilization of the direction-of-view can be provided by the 3-axis rate gyro (or similar) data.
- Integration of the rate gyro data can provide total angular displacement. This can be useful for characterizing the marker location(s) during installation. Once known, the movement of the marker(s) can be correlated to the user's actual direction-of-view.
- Data for marker characterization can be collected by wearing the display- glasses and scanning the entire allowable range of direction-of-view from the operator's station.
- the display glasses can be sued fully left, right, up, and down.
- the result can be a spherical or semi-spherical panoramic image.
- the exterior mask(s) and interior mask(s) can be determined. These masks(s) can be arbitrary and can be defined by several methods. For example, software tools can be used to edit the panoramic image. Another option is to use chroma key by applying green fabric to the windows or other areas and automatically detecting the green areas as mask areas, A further option is to detect and filter bright areas when the vehicle is in bright daylight. [0060] Frame mask transformation can be variously accomplished. A transformation vector can be computed as the vector that will best move the markerfs) in the vehicle map database to the detected marker iocation(s) based on the user's direction of view.
- the frame exterior maskfs) and frame interior mask(s) can be computed using the transformation vector, exterior maskfs) and interior mask(s).
- the frame exterior mask(s) can be used to crop the exterior video and synthetic image.
- the frame interior mask(s) can be used to crop interior video.
- the vehicle exterior maskfs) and interior maskfs) do not need to be altered.
- the system can dither the boundary between the exterior and interior masks, such that the boundary may not be pronounced or distracting.
- Variable transparency can permit the generation of an enhanced image by mixing or combining exterior masked video and synthetic masked video.
- the transparency ratio which can be an analog value, can be determined by the user or by an automatic algorithm.
- the automatic algorithm can process the masked exterior video data for edge detection. Higher definition of edges can cause the exterior masked video to become dominant. Conversely, lower edge detection can result in synthetic masked video becoming dominant.
- the interior maskfs can be the inverse of the exterior maskfs), as mentioned above. Therefore, the frame interior masked image can be combined with an enhanced image using a simple maximum value operation for each pixel. This can provide the user with imagery (real and enhanced) that is coherent with both the vehicle interior and the outside environment.
- the alignment of the synthetic image to the outside environment can be accomplished via edge / object detection of visible features. This can happen on a continuous basis without user input.
- the position of the sun relative to the direction of view may be known. Therefore, the sun may be tracked within the image and reduced in intensity, which may reduce and/or eliminate sun glare.
- Figure 7 illustrates a method according to certain embodiments of the present invention.
- a method can include, at 710, obtaining, by a processor, an interior video image based on a position of a user.
- the interior video image can be a live camera feed, for example a live video image of the interior of a cockpit as in the previous examples.
- the method can also include, at 720, obtaining, by the processor, an exterior video image based on the position of the user.
- the obtaining the exterior video image can include, at 724, selecting from a live camera feed, a synthetic image, or a combination of the live camera feed and the synthetic image.
- the method can include, at 726, selecting a transparency for the combination of the live camera feed and the synthetic image.
- the method can also include, at 722, generating the synthetic image based on the position of the user.
- an alignment of the synthetic image can be determined based on at least one of edge detection or image detection from the interior video image. Edge detection and/or object detection can also be used to help decide whether to select the synthetic image, the live video image, or some combination thereof.
- the method can further include, at 730, combining the interior video image and the exterior video image to form a combined single view for the user.
- the combined single view can be a live video image of a cockpit including the instrument panel view and window view, as described above.
- the method can additionally include, at 740, providing the combined single view to a display of the user.
- the display can be glasses worn by the pilot of an aircraft.
- the display can be further configured to superimpose additional information similar to the way information is provided on a heads-up display.
- Figure 8 illustrates an exemplary system, according to certain embodiments of the present invention, it should be understood that each block of the exemplary method of Figure 7 may be implemented by various means or their combinations, such as hardware, software, firmware, one or more processors and/or circuitry.
- a system may include several devices, such as, for example, device 810 and display device 820.
- the system may include more than one display device 820 and more than one device 810, although only one of each is shown for the purposes of illustration.
- the device 810 may be any suitable piece of avionics hardware, such as a line replaceable unit of an avionics system.
- the display device 820 may be any desired display device, such as display glasses, which may provide a single image or a pair of coordinated stereoscopic images.
- the device 810 may include at least one processor or control unit or module, indicated as 814. At least one memory may be provided in the device 810, indicated as 815. The memory 815 may include computer program instructions or computer code contained therein, for example, for carrying out the embodiments of the present invention, as described above.
- One or more transceivers 816 may be provided, and the device 810 may also include an antenna, illustrated as 817. Although only one antenna is shown, many antennas and multiple antenna elements may be provided for the device 810. Other configurations of the device 810, for example, may be provided.
- device 810 may be configured for wired communication (as shown to connect to display device 820), in addition to or instead of wireless communication, and in such a case, antenna 817 may illustrate anv form of communication hardware, without being limited to merely an antenna.
- Transceiver 816 may be a transmitter, a receiver, or both a transmitter and a receiver, or a unit or a device that may be configured both for transmission and reception.
- Processor 814 may be embodied by any computational or data processing device, such as a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), a digitally enhanced circuit, or a comparable device or a combination thereof.
- the processor 814 may be implemented as a single controller, or a plurality of controllers or processors. Additionally, the processor 814 may be implemented as a pool of processors in a local configuration, in a cloud configuration, or in a combination thereof.
- the term “circuitry” may refer to one or more electric or electronic circuits.
- processor may refer to circuitry, such as logic circuitry, that responds to and processes instructions that drive a computer.
- Memory 815 may be any suitable storage device, such as a non-transitory computer-readable medium.
- a hard disk drive (HDD), random access memory (RAM), flash memory, or other suitable memory may be used.
- the memory 815 may be combined on a single integrated circuit as the processor, or may be separate therefrom.
- the computer program instructions which may be stored in the memory 815 and processed by the processor 814 can be any suitable form of computer program code, for example, a compiled or interpreted computer program written in any- suitable programming language.
- the memory 815 or data storage entity is typically internal but may also be external or a combination thereof, such as in the case when additional memory capacity is obtained from a service provider.
- the memory may be fixed or removable.
- the memory 815 and the computer program instructions may be configured, with the processor 814 for the particular device, to cause a hardware apparatus, such as device 810, to perform any of the processes described above (see, for example, Figures 1 and 2). Therefore, in certain embodiments of the present invention, a non-transitory computer-readable medium may be encoded with computer instructions or one or more computer programs (such as added or updated software routines, applets or macros) that, when executed in hardware, may perform a process, such as one or more of the processes described herein.
- a non-transitory computer-readable medium may be encoded with computer instructions or one or more computer programs (such as added or updated software routines, applets or macros) that, when executed in hardware, may perform a process, such as one or more of the processes described herein.
- Computer programs may be coded by any programming language, which may be a high-level programming language, such as objective-C, C, C++, C#, Java, etc., or a low-level programming language, such as a machine language, or an assembler. Alternatively, certain embodiments of the invention may be performed entirely in hardware.
- a high-level programming language such as objective-C, C, C++, C#, Java, etc.
- a low-level programming language such as a machine language, or an assembler.
- certain embodiments of the invention may be performed entirely in hardware.
- a left eye view may have a different combination of images than the right eye view.
- the right eye view may be purely live video images, whereas the left eye view may have a synthetic exterior video image.
- one eye view may simply pass through the glasses transparently.
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
- Studio Circuits (AREA)
- Controls And Circuits For Display Device (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201880065422.3A CN111183639A (en) | 2017-10-04 | 2018-10-03 | Combining the composite image with the real image for vehicle operation |
CA3077430A CA3077430A1 (en) | 2017-10-04 | 2018-10-03 | Combining synthetic imagery with real imagery for vehicular operations |
EP18796168.5A EP3692714A1 (en) | 2017-10-04 | 2018-10-03 | Combining synthetic imagery with real imagery for vehicular operations |
AU2018345666A AU2018345666A1 (en) | 2017-10-04 | 2018-10-03 | Combining synthetic imagery with real imagery for vehicular operations |
JP2020519324A JP2020537390A (en) | 2017-10-04 | 2018-10-03 | Combining composite and real images for vehicle manipulation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/724,667 US20190102923A1 (en) | 2017-10-04 | 2017-10-04 | Combining synthetic imagery with real imagery for vehicular operations |
US15/724,667 | 2017-10-04 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019070869A1 true WO2019070869A1 (en) | 2019-04-11 |
Family
ID=64051674
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2018/054187 WO2019070869A1 (en) | 2017-10-04 | 2018-10-03 | Combining synthetic imagery with real imagery for vehicular operations |
Country Status (7)
Country | Link |
---|---|
US (1) | US20190102923A1 (en) |
EP (1) | EP3692714A1 (en) |
JP (1) | JP2020537390A (en) |
CN (1) | CN111183639A (en) |
AU (1) | AU2018345666A1 (en) |
CA (1) | CA3077430A1 (en) |
WO (1) | WO2019070869A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021109082A1 (en) * | 2021-04-12 | 2022-10-13 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for determining a pose in data glasses |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6151060A (en) * | 1995-12-14 | 2000-11-21 | Olympus Optical Co., Ltd. | Stereoscopic video display apparatus which fuses real space image at finite distance |
GB2532464A (en) * | 2014-11-19 | 2016-05-25 | Bae Systems Plc | Apparatus and method for selectively displaying an operational environment |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB0321083D0 (en) * | 2003-09-09 | 2003-10-08 | British Telecomm | Video communications method and system |
JP6091866B2 (en) * | 2012-11-30 | 2017-03-08 | 株式会社キーエンス | Measurement microscope apparatus, image generation method, measurement microscope apparatus operation program, and computer-readable recording medium |
US20150151838A1 (en) * | 2013-12-03 | 2015-06-04 | Federal Express Corporation | System and method for enhancing vision inside an aircraft cockpit |
CN105139451B (en) * | 2015-08-10 | 2018-06-26 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | A kind of Synthetic vision based on HUD guides display system |
WO2017145645A1 (en) * | 2016-02-25 | 2017-08-31 | 富士フイルム株式会社 | Driving assistance apparatus, driving assistance method, and driving assistance program |
US20170291716A1 (en) * | 2016-04-07 | 2017-10-12 | Gulfstream Aerospace Corporation | Cockpit augmented vision system for aircraft |
JP6877115B2 (en) * | 2016-09-27 | 2021-05-26 | 株式会社東海理化電機製作所 | Vehicle visibility device |
CN110419063A (en) * | 2017-03-17 | 2019-11-05 | 麦克赛尔株式会社 | AR display device and AR display methods |
-
2017
- 2017-10-04 US US15/724,667 patent/US20190102923A1/en not_active Abandoned
-
2018
- 2018-10-03 JP JP2020519324A patent/JP2020537390A/en active Pending
- 2018-10-03 AU AU2018345666A patent/AU2018345666A1/en not_active Abandoned
- 2018-10-03 CN CN201880065422.3A patent/CN111183639A/en active Pending
- 2018-10-03 WO PCT/US2018/054187 patent/WO2019070869A1/en unknown
- 2018-10-03 EP EP18796168.5A patent/EP3692714A1/en not_active Withdrawn
- 2018-10-03 CA CA3077430A patent/CA3077430A1/en not_active Abandoned
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6151060A (en) * | 1995-12-14 | 2000-11-21 | Olympus Optical Co., Ltd. | Stereoscopic video display apparatus which fuses real space image at finite distance |
GB2532464A (en) * | 2014-11-19 | 2016-05-25 | Bae Systems Plc | Apparatus and method for selectively displaying an operational environment |
Also Published As
Publication number | Publication date |
---|---|
US20190102923A1 (en) | 2019-04-04 |
JP2020537390A (en) | 2020-12-17 |
EP3692714A1 (en) | 2020-08-12 |
CN111183639A (en) | 2020-05-19 |
AU2018345666A1 (en) | 2020-04-23 |
CA3077430A1 (en) | 2019-04-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9950807B2 (en) | Adjustable synthetic vision | |
US9594248B2 (en) | Method and system for operating a near-to-eye display | |
US8487787B2 (en) | Near-to-eye head tracking ground obstruction system and method | |
EP3111170B1 (en) | Projected synthetic vision | |
US8218006B2 (en) | Near-to-eye head display system and method | |
EP2133728B1 (en) | Method and system for operating a display device | |
US11398078B2 (en) | Gradual transitioning between two-dimensional and three-dimensional augmented reality images | |
EP3438614B1 (en) | Aircraft systems and methods for adjusting a displayed sensor image field of view | |
EP3173847B1 (en) | System for displaying fov boundaries on huds | |
EP3742118A1 (en) | Systems and methods for managing a vision system display of an aircraft | |
US11249306B2 (en) | System and method for providing synthetic information on a see-through device | |
WO2019070869A1 (en) | Combining synthetic imagery with real imagery for vehicular operations | |
EP3933805A1 (en) | Augmented reality vision system for vehicular crew resource management | |
US10777013B1 (en) | System and method for enhancing approach light display | |
JP7367930B2 (en) | Image display system for mobile objects | |
CN118229946A (en) | Scanning assistance for camera-based search |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18796168 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 3077430 Country of ref document: CA |
|
ENP | Entry into the national phase |
Ref document number: 2020519324 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2018345666 Country of ref document: AU Date of ref document: 20181003 Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 2018796168 Country of ref document: EP Effective date: 20200504 |